GB2448691A - Tilt Angle Sensor for Stability Control of a Vehicle. - Google Patents

Tilt Angle Sensor for Stability Control of a Vehicle. Download PDF

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Publication number
GB2448691A
GB2448691A GB0707817A GB0707817A GB2448691A GB 2448691 A GB2448691 A GB 2448691A GB 0707817 A GB0707817 A GB 0707817A GB 0707817 A GB0707817 A GB 0707817A GB 2448691 A GB2448691 A GB 2448691A
Authority
GB
United Kingdom
Prior art keywords
tilt angle
trailer
vehicle
lateral acceleration
braking ecu
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB0707817A
Other versions
GB0707817D0 (en
GB2448691B (en
Inventor
Colin Ross
Matthew Fry
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Knorr Bremse Systeme fuer Schienenfahrzeuge GmbH
Knorr Bremse Systems for Commercial Vehicles Ltd
Original Assignee
Knorr Bremse Systeme fuer Schienenfahrzeuge GmbH
Knorr Bremse Systems for Commercial Vehicles Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Knorr Bremse Systeme fuer Schienenfahrzeuge GmbH, Knorr Bremse Systems for Commercial Vehicles Ltd filed Critical Knorr Bremse Systeme fuer Schienenfahrzeuge GmbH
Priority to GB0707817A priority Critical patent/GB2448691B/en
Publication of GB0707817D0 publication Critical patent/GB0707817D0/en
Priority to PCT/GB2008/001440 priority patent/WO2008129306A1/en
Priority to EP08737095.3A priority patent/EP2148794B1/en
Priority to HUE08737095A priority patent/HUE043714T2/en
Priority to ES08737095T priority patent/ES2710376T3/en
Publication of GB2448691A publication Critical patent/GB2448691A/en
Application granted granted Critical
Publication of GB2448691B publication Critical patent/GB2448691B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60PVEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/04Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60PVEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/04Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
    • B60P1/045Levelling or stabilising systems for tippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/241Lateral vehicle inclination
    • B60T8/243Lateral vehicle inclination for roll-over protection
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03Overturn, rollover

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)

Abstract

Control apparatus for a vehicle, in particular a trailer, comprises a braking ECU having discretely programmable storage means to carry operating data for one or more auxiliary functions of the vehicle and a lateral acceleration sensor adapted to detect lateral acceleration of the vehicle body. The output of the sensor is transmitted to the braking ECU which is adapted to determine a tilt angle alpha from the output of the lateral acceleration sensor. When the tilt angle exceeds a predetermined value, the braking ECU generates a signal indicating that the predetermined value has been exceeded. Preferably a warning is given to the operator. The trailer preferably has a raisable body 201 by a hydraulic actuator 202 to discharge its cargo at its rear 204. Stability of the trailer when discharging can be partially achieved by stabilizer legs 203.

Description

Tilt AnQIe Sensor and APParatus The invention relates to apparatus for
detecting tilt in a commercial vehicle, in particular but not exclusively, for detecting tilt in a tipper.
Heavy commercial tractor/trailer vehicles having a body that raises to discharge cargo camed on the trailer are well known and commonly known as tippers. With such a tipper, as the body raises the centre of gravity moves and therefore the possibility that the trailer becomes unstable increases and accordingly there is a risk that the trailer can fall over. This problem of the trailer falling over is more likely on trailers where the length of the container which holds the load is quite long, typically longer than 8m, where the movement of the centre of gravity is obviously greater.
Standards have been defined which give a rating to the trailer with respect to the maximum angle it can sustain before tipping becomes likely and these are at most 7 degrees and likely to be less. There have been a number of proposals for systems to provide a driver with a warning when there is the potential of trailer becoming unstable, or which interface with the tipping control to prevent the body from being lifted or continuing to be lifted beyond the maximum permitted angle. These are generally based on incilnometers and tend to be fitted by third party suppliers in the aftermarket These standalone systems have generally increased safety and reduced the likelihood of accidents but they are not part of the standard equipment of a trailer or commercial vehicle. Such systems therefore are not widely supported and suffer from increased installation and maintenance costs and are therefore frequently not specified by trailer builders or operators.
The present invention seeks to provide apparatus for detecting tilt in a commercial vehicle, in particular which can be integrated into original equipment According to the invention there is provided control apparatus for a vehicle, which apparatus comprises a braking ECU having discretely programmable storage means to cany operating data for one or more auxiliary functions of the vehicle, a lateral acceleration sensor adapted to detect lateral acceleration of the trailer body when the vehicle is moving below a predefined speed, which acceleration values are transmitted to the braking ECU and, wherein the braking ECU is adapted to determine a tilt angle of the trailer from the output of the lateral acceleration sensor such that when the tilt angle exceeds a predetermined value, the braking ECU generates a signal indicating that the predetermined value has been exceeded.
Preferably there is provided a warning system for the operator. Preferably there is a lifting control means.
An exemplary embodiment of the invention will now be descnbed in greater detail with reference to the drawings, in which: Fig. 1 shows a schematic of a trailer with its body raised Fig. 2 shows a schematic of ECU for a commercial vehide brake system Figure 1 shows a schematic of a trailer that is provided with a raisable body 201 in the raised position, so that the trailer's cargo can be discharged 204. Such trailers are commonly used for transporting building materials such as sand or aggregates and for taking waste from building sites. Tipping trucks are also common. The raisable body is raised by means of a hydraulically driven strut, which will typically be powered from a hydraulic pump powered from the tractor's drive train. In use, the trailer is parked and the brakes applied with the forward legs lowered 203 to provide stability.
The trailer is provided with a lateral acceleration sensor described in more detail with reference to Figure 2, which is adapted to detect and measure any lateral acceleration on the trailer body. During the End of Line Test at the end of manufacturing, the trailer will be on a level plane with the raisable body unraised and the lateral acceleration sensor may be calibrated for off-set. Calibration may also continue during driving.
In the event that lateral acceleration is detected, the value of the lateral acceleration detected is transmitted to the trailer brake control module. When the trailer is stationary, which can be detected from either the park brake status or from the wheel speed sensors 1, any lateral acceleration will result from the trailer is tilting due to the raising of the body and/or shifting of the load, as the continuing calibration will account for the trailer being parked on a slope or uneven ground. The values of the lateral acceleration in this case can be used to calibrate for the tilt angle of the trailer and so the values can determine the actual lateral tilt of the trailer. Via the diagnostic program the trailer manufacturer can program the ECU, as descnbed below, with the maximum tilt angle that is required for the raisable body to remain safe. Using the data from the tilt angle sensor, the brake control ECU can then determine if the tilt angle determined is below or above a pre-determined maximum tilt angle. The tilt angle is defined as the angle between the body of the trailer and a level plane, a.
Once the maximum tilt angle has been exceeded an output signal will be generated by the ECU controlling the brake. The signal will continue while the tilt angle remains above the maximum tilt angle.
It may be the case that the raisable body is near to the maximum tilt angle, and the body is moving. In this instance, the tilt angle sensor may generate an output that results in the output signal being turned von" and then off" several times in close succession, which is undesirable. This may be prevented by applying a hysteresis between the tilt angle sensor and the signal generator. This would also prevent "on/off" signals caused by small movements of the trailer platform.
Figure 2 shows a schematic of an electronic control unit (ECU) for a commercial vehicle brake system. The ECU receives inputs from a variety of sensors, which include wheel sensors 1, pressure sensors in the brake system, a lateral acceleration sensor and other auxiliary sensors 2. The permitted values for these detected sensor outputs are stored in a table, which the control software for the RSP IRoll Stability Program) calls to ensure that the system is working correctly.
The ECU comprises an EEPROM as a non-volatile storage memory means in which the memory is divided into two blocks. The first block comprises the main safety cntical control parameters in particular those related to the actuation and operation of the vehicle brakes. The second block of memory comprises a discretely programmable storage means for carrying operating data relating to one or more auxiliary functions.
When a vehicle has a dynamic vehicle control system installed such as RSP, an integral part of the trailer braking system is a lateral acceleration sensor which is primarily used to provide lateral acceleration information so that dynamic roll-overs when the vehicle is in motion can be prevented automatically by applying the trailer brakes, or the tractor brakes, or both the tractor and trailer brakes.
The lateral acceleration sensor can be adapted to detect lateral acceleration when the vehicle is stationary or moving slowly. The maximum speed will be defined as an auxiliary parameter when programming the ECU. When the vehicle is stationary or moving slowly and the vehide body is changing position the lateral acceleration detected will be related to the increase in tilt angle. When an auxiliary output of the ECU for the braking system is configured to uTilt Angle" the user can program the second block of the EEPROM with the vehicle and load parameters to define a safe tilt angle and maximum vehicle speed. When an unstable arrangement is reached the ECU may give a warning signal or directly interface with the dnve mechanism to prevent further increase of the tilt angle.

Claims (5)

  1. Claims 1. Control apparatus for a vehicle comprising a braking ECU
    having discretely programmable storage means to carry operating data for one or more auxiliary functions of the vehicle, a lateral acceleration sensor adapted to detect lateral acceleration of the trailer body, which acceleration values are transmitted to the braking ECU, wherein the braking ECU is adapted to determine a tilt angle from the output of the lateral acceleration sensor such that when the tilt angle exceeds a predetermined value, the braking ECU generates a signal indicating that the predetermined value has been exceeded.
  2. 2. Control apparatus according to claim I wherein there is provided a warning system for the operator.
  3. 3. Control apparatus according to claims I or 2 wherein there is provided a lifting control means.
  4. 4. Control apparatus according to any one of claims I to 3 wherein a hysteresis between the tilt angle sensor and the braking ECU is provided so as to prevent rapid switching of the signal.
  5. 5. Control apparatus substantially as descnbed herein with reference to and illustrated in the accompanying drawings.
GB0707817A 2007-04-23 2007-04-23 Tilt Angle Sensor for Stability Control of a Vehicle Active GB2448691B (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
GB0707817A GB2448691B (en) 2007-04-23 2007-04-23 Tilt Angle Sensor for Stability Control of a Vehicle
PCT/GB2008/001440 WO2008129306A1 (en) 2007-04-23 2008-04-23 Tilt angle sensor and apparatus
EP08737095.3A EP2148794B1 (en) 2007-04-23 2008-04-23 Tilt angle sensor and apparatus
HUE08737095A HUE043714T2 (en) 2007-04-23 2008-04-23 Tilt angle sensor and apparatus
ES08737095T ES2710376T3 (en) 2007-04-23 2008-04-23 Tilt angle sensor and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB0707817A GB2448691B (en) 2007-04-23 2007-04-23 Tilt Angle Sensor for Stability Control of a Vehicle

Publications (3)

Publication Number Publication Date
GB0707817D0 GB0707817D0 (en) 2007-05-30
GB2448691A true GB2448691A (en) 2008-10-29
GB2448691B GB2448691B (en) 2010-03-10

Family

ID=38135270

Family Applications (1)

Application Number Title Priority Date Filing Date
GB0707817A Active GB2448691B (en) 2007-04-23 2007-04-23 Tilt Angle Sensor for Stability Control of a Vehicle

Country Status (5)

Country Link
EP (1) EP2148794B1 (en)
ES (1) ES2710376T3 (en)
GB (1) GB2448691B (en)
HU (1) HUE043714T2 (en)
WO (1) WO2008129306A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2829438A3 (en) * 2013-02-14 2015-04-08 Franz Xaver Meiller Fahrzeug- und Maschinenfabrik-GmbH & Co KG Tipping vehicle
US10189393B2 (en) 2015-03-06 2019-01-29 Hyva Holding B.V. Method and system for operating a tipper

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109615726B (en) * 2018-12-12 2022-01-14 湖北汽车工业学院 Information output method, information output device, dump truck system, computer, and storage medium
AT17335U1 (en) * 2021-04-20 2021-12-15 Wacker Neuson Linz Gmbh dumper

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998025779A1 (en) * 1996-12-10 1998-06-18 Rollover Operations, Llc System and method for the detection of vehicle rollover conditions
EP1118507A1 (en) * 1999-12-21 2001-07-25 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
JP2003165696A (en) * 2001-11-28 2003-06-10 Aichi Corp Jack operation controller for work vehicle

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2046957A (en) * 1979-03-21 1980-11-19 Edbro Holdings Vehicle stability control system
US4682145A (en) * 1985-05-03 1987-07-21 Brawner Jr Clarence A Truck level sensing and indicating system
FR2865168B1 (en) 2004-01-15 2007-06-15 Edmond Pelichet SAFETY SYSTEM FOR TILT VEHICLE VEHICLE
JP4715183B2 (en) * 2004-12-13 2011-07-06 株式会社アドヴィックス Vehicle control system using brake fluid pressure

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998025779A1 (en) * 1996-12-10 1998-06-18 Rollover Operations, Llc System and method for the detection of vehicle rollover conditions
EP1118507A1 (en) * 1999-12-21 2001-07-25 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
JP2003165696A (en) * 2001-11-28 2003-06-10 Aichi Corp Jack operation controller for work vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2829438A3 (en) * 2013-02-14 2015-04-08 Franz Xaver Meiller Fahrzeug- und Maschinenfabrik-GmbH & Co KG Tipping vehicle
US10189393B2 (en) 2015-03-06 2019-01-29 Hyva Holding B.V. Method and system for operating a tipper

Also Published As

Publication number Publication date
GB0707817D0 (en) 2007-05-30
GB2448691B (en) 2010-03-10
EP2148794A1 (en) 2010-02-03
EP2148794B1 (en) 2018-10-31
WO2008129306A1 (en) 2008-10-30
HUE043714T2 (en) 2019-09-30
ES2710376T3 (en) 2019-04-24

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